Real-Time Implementation of Iterative Learning Control for an Electro-Hydraulic Servo System

Naveen, C.; Meenakshipriya, B.; Thomas, A. Tony; Sathiyavathi, S.; Sathishbabu, S.

doi:10.1080/03772063.2022.2069164

Cited by 4 publications

(1 citation statement)

References 56 publications

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“…An active force control system is developed to provide an accurate real-time force loading for the landing gear of the M-346 "iron bird", which is an integrated testing rig for the simulation, confirmation, and verification of the flight controls, hydraulic system, and landing gear of the M-346 trainer, adopting the servo valve to control the hydraulic actuator, combined with a nonlinear adaptive control law to achieve precise loading controls [11]. To account for the internal and external disturbances that affect the mechanism of the loading simulator, a more accurate mathematical model, including nonlinear factors and uncertainties, advanced control algorithms (i.e., backstepping [12], sliding mode, neural network [13], iterative learning control [14]), and sensor faults and disturbances observation [15,16], is utilized for accurate tracking and nonlinear compensation. The backstepping adaptive control, combined with the modified LuGre friction model [17], is introduced into the force-tracking control of the loading simulator [18].…”

Section: Introductionmentioning

confidence: 99%

Terminal Sliding Mode Force Control Based on Modified Fast Double-Power Reaching Law for Aerospace Electro-Hydraulic Load Simulator of Large Loads

Zhao,

Qiu,

Huang

et al. 2024

Actuators

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This paper addresses the force-tracking problem of aerospace electro-hydraulic load simulators under the influence of high inertia, large loads, and a strong coupling force disturbance. An accurate mathematical model is initially derived to describe the characteristics of the load simulator system, the cause of the surplus force, and the strong phase lag due to large inertia. In order to overcome the position interference of the system and the large phase lag problem, a terminal sliding mode control strategy based on the modified fast double-power reaching law is proposed, based on the accurate mathematical model. This control strategy effectively suppresses the chattering problem of the sliding control and implements the finite time convergence of the system through the design of the reaching law and terminal sliding surface, ensuring the robustness of the system and the accuracy of the force-tracking problem. Finally, a comparison of the simulation and experimental results based on the design of different strategy controllers is performed to verify the effectiveness of the control strategy and system adaptability.

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Section: Introductionmentioning

confidence: 99%

Terminal Sliding Mode Force Control Based on Modified Fast Double-Power Reaching Law for Aerospace Electro-Hydraulic Load Simulator of Large Loads

Zhao,

Qiu,

Huang

et al. 2024

Actuators

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A Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish

Manduca,

Santaera,

Miraglia

et al. 2024

J Intell Robot Syst

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Bioinspired underwater robots can move efficiently, with agility, even in complex aquatic areas, reducing marine ecosystem disturbance during exploration and inspection. These robots can improve animal farming conditions and preserve wildlife. This study proposes a muscle-like control for an underactuated robot in carangiform swimming mode. The artifact exploits a single DC motor with a non-blocking transmission system to convert the motor’s oscillatory motion into the fishtail’s oscillation. The transmission system combines a magnetic coupling and a wire-driven mechanism. The control strategy was inspired by central pattern generators (CPGs) to control the torque exerted on the fishtail. It integrates proprioceptive sensory feedback to investigate the adaptability to different contexts. A parametrized control law relates the reference target to the fishtail’s angular position. Several tests were carried out to validate the control strategy. The proprioceptive feedback revealed that the controller can adapt to different environments and tail structure changes. The control law parameters variation accesses the robotic fish’s multi-modal swimming. Our solution can vary the swimming speed of 0.08 body lengths per second (BL/s), and change the steering direction and performance by an angular speed and turning curvature radius of 0.08 rad/s and 0.25 m, respectively. Performance can be improved with design changes, while still maintaining the developed control strategy. This approach ensures the robot’s maneuverability despite its underactuated structure. Energy consumption was evaluated under the robotic platform’s control and design. Our bioinspired control system offers an effective, reliable, and sustainable solution for exploring and monitoring aquatic environments, while minimizing human risks and preserving the ecosystem. Additionally, it creates new and innovative opportunities for interacting with marine species. Our findings demonstrate the potential of bioinspired technologies to advance the field of marine science and conservation.

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Research on the Performance and Control Strategy of Electro-Hydraulic Servo System for Selective Hole Digging Tree Planter

Zhu,

Liu,

et al. 2024

Forests

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Compared to agricultural environments, afforestation sites are more complex, often presenting issues such as undulating and uneven terrain. These conditions lead to instability in hole digging depth and plant spacing during continuous movement, and the hole shape may not meet expectations. Additionally, the hydraulic system exhibits slow response speed and long steady-state time, affecting the quality of sapling planting. To address these issues, this paper designs an intelligent planting control system for intermittent hole digging under continuous dynamic movement, based on a large tree planter. The focus is on studying the dynamic accuracy of the hole digging cylinder to resolve the instability of plant spacing and planting depth in actual planting processes. Firstly, a motion trajectory model of the intermittent hole digging mechanism is established to obtain the relationship between the displacement trajectory of the rotating cutter and the displacements of the floating cylinder and the hole digging cylinder. Secondly, a mathematical model of the electro-hydraulic servo system is established to control the dynamic accuracy of the hole digging operation. Finally, a Simulink simulation model of the system is established to analyze the performance indicators of the hydraulic system during operation using step and sinusoidal excitation signals. The test results show that the displacement of the hydraulic piston rod can ensure a linear extension trend within the range of 0 to 0.4 m, and the extension distance of the hole digging cylinder in the planting system is 0 to 0.35 m, ensuring linear change within this stroke. When the system’s extension command is 1V, the actual output is 0.6 m, with a relative error of less than 10% compared to the simulation value, indicating that the control strategy can effectively improve the dynamic performance of the system. When the hydraulic system is in a steady-state extension state at 50 to 58.6 s, the relative error with the simulation value is 7.3%, meeting the “double ten indicators” requirement. The research results clearly verify the superior performance of the proposed intelligent control system, and the proposed control strategy has great potential in practical applications, promising to improve afforestation quality by stabilizing planting spacing and planting depth.

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Real-Time Implementation of Iterative Learning Control for an Electro-Hydraulic Servo System

Cited by 4 publications

References 56 publications

Terminal Sliding Mode Force Control Based on Modified Fast Double-Power Reaching Law for Aerospace Electro-Hydraulic Load Simulator of Large Loads

Terminal Sliding Mode Force Control Based on Modified Fast Double-Power Reaching Law for Aerospace Electro-Hydraulic Load Simulator of Large Loads

A Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish

Research on the Performance and Control Strategy of Electro-Hydraulic Servo System for Selective Hole Digging Tree Planter

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